Joint actuator
Mechanical design
Quad tiny – Capstan reducer 6:1
Pros:
|Without backlash, small moment
of inertia, achievable high
transmission ratio in limited space
Cons:
|Pre-tensioned rope is vital
Motor
Capstan1
Capstan2
Quad bai – Timing belt reducer 9:1
Pros:
|Small backlash, small moment
of inertia,
Cons:
|Higher friction, timing belt
needed to be tensioned
Motor
Timing belt 1
Timing belt 2